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The code is computing the gradient of the cost, which is jerk squared, not the gradient of the jerk. The comment there is misleading! As written, it seems the code is implementing the chain rule of $$ c = j^\top j $$ $$ \frac{\partial c}{\partial q} = 2j\frac{\partial j}{\partial q} $$ $2j$ is set to temp_j and you can see how the partial of jerk w.r.t q is ...


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